Final Year Project Presentation

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Final Year Project Presentation

  1. 1. DesignFabricationStabilization
  2. 2. Remote Data Acquisition Rescue OperationApplications Indoor and Outdoor Flight Surveillance
  3. 3. Modeling Mechanical Design Sensors and Actuators Signal ConditioningControl Strategy
  4. 4. An aircraft that is lifted and propelled by four propellers. Control and maneuvering is achieved by varying the relative speeds of the four rotors. Vertical Take Off and Landing
  5. 5. Roll/Pitch Yaw
  6. 6.  PRO-E simulation was used to determine:  Dimensions of the craft (0.25 m).  Total mass (1.5 kg) of the PVC structure  Moment of inertia (0.025 kg.m2) .  Propeller size (9 inch). The results obtained enabled us to select a suitable BLDC motor for the quad rotor.
  7. 7.  9 Degrees of Freedom - Razor IMU ( Sparkfun.com) Specifications of IMU.  LY530ALH (300°/s single-axis gyro),  LPR530ALH (300°/s dual-axis gyro),  ADXL345 (three-axis accelerometer),  HMC5843 (three-axis magnetometer)
  8. 8.  BLDC motor - out runner (the outer shell spins) is used Specifications:  Weight: 56g  Voltage: 10V  KV: 1200 RPM/V  Max Efficiency Current: 15.5A  Max Power out: 180W. Turnigy Bell 2409-18T An electronic speed controller (ESC) is used to control the speed of electric motors. It is a pulse-width modulation (PWM) controller
  9. 9.  Two 2200mAh 3S 25C Lipo Packs and a separate battery used for electronic circuitry. Size: 9 x 5 Clockwise and Counter-Clockwise orientation.
  10. 10.  dsPIC 30f5015 motor control series microcontroller for onboard computation. All calculations were done in fixed point (signed Q15.16) Capable of providing 4 simultaneous independent PWM’s dsPIC features, hardware multiplier, 16 bit architecture Operating with a clock multiplier to obtain 14MIPS.
  11. 11. User Base Station PC Transceiver(ground station) Quadrotor Transceiver Attitude Reference Motors PID Angle Gyroscopes Camera Translation (wireless) Estimate PID Magnetometer Pressure Sensor Correction Accelerometers Microcontroller
  12. 12.  IMU data is corrupted and has to be filtered to make it usable. Gyro integration gives orientation but drifts over time.
  13. 13.  Accelerometer gives the gravity vector. Integration of rate gyros gives attitude. Noise in gyros:  Offset  White noise Leads to drift The ‘g’ reference vector from the accelerometer is used to correct this drift
  14. 14.  The gyro is integrated to give the roll and pitch.  obtain the calculated ‘g’ vector.  The error between the measured and calculated ‘g’ vector is adjusted into the gyro data.Gyroscope Roll/Pitch Compensation Integration(rad/unit time) angle Error PIDAccelerometer Estimated ‘g’ Cross Product(rad/unit time) vector
  15. 15.  Results from Complimentary Filter
  16. 16.  Two options for orientation estimation Kalman filter Complimentary filter The Complimentary Filter:  does not require the system model  is optimized for microcontroller implementation  performance is comparable to the Kalman Filter
  17. 17.  PID controller was used for roll and pitch control.  Larger P leads to faster response,  I used for reference tracking  D dampens the oscillations, reduces overshoot A simulation was done using the mathematical model in MATLAB. The gains found were fine tuned on the actual system
  18. 18.  Objective:  Sensing translation in X- axis  Sensing translation in Y- axis  Yaw computation
  19. 19.  Wireless camera over IP are very expensive. Camera of the smart phone was used for live streaming. Bluetooth link was used between the camera and the base station. A Red Cross of the ground was used as reference for determining the position of the craft.
  20. 20. Centroid & Error Image Image Blob Filtering Computation Blob Detection YawAcquistion Segmentation & Analysis Evaluation
  21. 21. Translation control Wireless communicationUltra sonic sensor for object avoidance
  22. 22. ThankYou ! Q&A

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